CN108999888A - A kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor - Google Patents
A kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor Download PDFInfo
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- CN108999888A CN108999888A CN201811068050.8A CN201811068050A CN108999888A CN 108999888 A CN108999888 A CN 108999888A CN 201811068050 A CN201811068050 A CN 201811068050A CN 108999888 A CN108999888 A CN 108999888A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0446—Determination of the actual position of the moving member, e.g. details of sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
- F16C32/0453—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control for controlling two axes, i.e. combined control of x-axis and y-axis
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
A kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor belongs to Control in active magnetic bearings control field more particularly to a kind of control method for falling recovery for large-size horizontal electromagnetic bearing rotor.The present invention is directed to existing defect, and proposing a kind of can guarantee that horizontal active magnetic bearing system safety, rotor are not easy to fall, the rotor of strong antijamming capability falls recovery control method.In the present invention, sensor transmits a signal to controller in real time；Controller handles signal, and exchanges transmission with host computer real-time perfoming data information；Controller generates different control signals by control algolithm and exports；Different control signals passes through control electric current needed for power amplifier generates electromagnetic bearing coil respectively and is transmitted to electromagnetic bearing, for controlling the freedom degree of rotor four direction, electromagnetic bearing exports corresponding electromagnetic force according to different control electric currents, and then controls rotor-position.Present invention is mainly used for horizontal electromagnetic bearing rotors to fall recovery.
Description
Technical field
The invention belongs to Control in active magnetic bearings control field, more particularly to it is a kind of fall for large-size horizontal electromagnetic bearing rotor it is extensive
Multiple control method.
Background technique
Electromagnetic bearing has many advantages, such as without lubrication, without Mechanical Contact, non-maintaining and replacement and active control, it has also become high
The ideal bearing of fast rotor, in the national defence such as accumulated energy flywheel, aerospace, nuclear industry, high-speed machine tool, turbomachinery and basic work
Industry department is with a wide range of applications.
But when Control in active magnetic bearings control device works normally, rotor is likely due to external disturbance and has and fall trend.By
The change of the caused rotor synchronous vibration amplitude of collision and phase can weaken control of the Control in active magnetic bearings control device for rotor displacement
Ability processed.Currently, using seldom considering to impact brought by rotor drop impact when magnetic bearings control system to influence.
Large high-speed rotor is fallen, shock loading is excessive and excessively concentrates, and easily generation partial failure makes system function
It loses.High speed rotor fall with auxiliary bearing collision process nonlinearity, fall rotor dynamics analysis it is sufficiently complex, control
The design difficulty of device increases.The theoretical research fallen to electromagnetic bearing rotor is not still comprehensive, limits the reality of active magnetic bearing system
Border application.Reasonable control method is only designed, just can ensure that the stabilization of electromagnetic bearing's flexible rotor system.
Therefore, it is necessary to one kind can guarantee horizontal active magnetic bearing system safety, rotor be not easy to fall, strong antijamming capability
Rotor falls recovery control method.
Summary of the invention
The present invention for existing horizontal active magnetic bearing system is dangerous, rotor easily falls, the defect of poor anti jamming capability,
Propose it is a kind of can guarantee horizontal active magnetic bearing system safety, rotor be not easy to fall, the rotor of strong antijamming capability fall it is extensive
Multiple control method.
A kind of technical solution of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to the present invention
It is as follows:
A kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to the present invention, it includes following
Step:
Step 1: sensor transmits a signal to controller in real time；
Step 2: controller handles signal, and transmission is exchanged with host computer real-time perfoming data information；
Step 3: controller generates different control signals by control algolithm and exports；
Step 4: the different control signal passes through control needed for power amplifier generates electromagnetic bearing coil respectively
Electric current processed, the control electric current are transmitted to electromagnetic bearing；The electromagnetic bearing includes left radial magnetic bearing and right radial electromagnetism
Bearing；The freedom degree of the Control in active magnetic bearings control rotor four direction, wherein left radial magnetic bearing and right radial magnetic bearing
For controlling rotor radial freedom degree, i.e. X, Y-direction translation and rotation；
Step 5: the electromagnetic bearing exports corresponding electromagnetic force according to different control electric currents, and then control rotor
Position.
More specifically: in step 1, the sensor includes current sensor and rotor displacement sensor, and electric current
The displacement signal of the coil current signal of electromagnetic bearing and rotor is transferred to control in real time by sensor and rotor displacement sensor
Device.
More specifically: in step 3, the controller is according to the rotor displacement of electromagnetic bearing buy stop order and feedback
Signal solves suspending power, calculates the coil current instruction of electromagnetic bearing, and compares the coil current instruction and feedback of electromagnetic bearing
Coil current passes through control algolithm output electromagnetic bearing coil current control amount.
More specifically: the control algolithm is pid control algorithm, and in the pid control algorithm, rotor uses rigid body mould
Type, electromagnetic bearing are linear model fm=Ki*ic+ks* s,
Wherein, fmFor input current function, KiFor current stiffness, icTo control electric current, ksFor a direction displacement rigidity, s
For the displacement of a direction.
More specifically: the pid control algorithm include electromagnetic force computing module, rotor dynamics analytical calculation module and
Fall and touch the computing module that rubs, the electromagnetic force computing module falls and touches rub computing module and rotor dynamics analytical calculation module
Calculation be respectively as follows:
1) electromagnetic force computing module
Based on formula:
Wherein, KsFor displacement rigidity, KiFor current stiffness；xa、ya、xb、ybFor displacement sensor X, the rotor radial of Y-direction
Displacement signal respectively indicates the rotor displacement at the left and right two sensors interface of rotor, by transformation matrix of coordinates, can finally indicate
For the freedom degree of rotor all directions, it may be assumed that the translation of the direction x, y and rotation；ixa、iya、ixb、iybRespectively indicate respective rotor four
Four road electromagnetic bearing coils of freedom degree control current signal, Fxa、Fya、Fxb、FybRespectively indicate corresponding electromagnetic force；
2) rotor dynamics analytical calculation module
Impact force computing module is added in vertical rotor dynamics computing module:
Wherein, x, y respectively indicate rotor centroid X, Y-direction displacement, θxWith θyIndicate rotor centroid around X and Y-direction rotation angle
Degree；WithIndicate rotor centroid around X and Y-direction angular velocity of rotation,WithIndicate rotor centroid around X and Y-direction rotation angle
Acceleration；Mg is rotor gravity, ITFor rotor polar moment of inertia, FmIndicate electromagnetic force, FcIndicate impact force, f is indicated suffered by rotor
Centrifugal force, subscript x, y respectively indicate X, Y-direction, and subscript a and b respectively indicate the left and right both ends of rotor, sa、sbIt respectively indicates left and right
Sensor is at a distance from rotor centroid, la、lbLeft and right auxiliary bearing is respectively indicated at a distance from mass center；
3) drop impact computing module
For horizontal electromagnetic bearing:
The radial impact of rotor and auxiliary bearing belongs to line and hits type, and axial impact belongs to face crash type, rolling friction
Betide rotor and auxiliary bearing inner ring tangential velocity it is numerically essentially equal when；
Based on Hertz contact formula:
Wherein, F is impact force, and δ is collision insert depth,For the once differentiation amount that δ is to the time, K is contact stiffness, C
For collisional damping, e is making contact coefficient, and numerical basis crash type is chosen, and point contact is collided, e=3/2；
For line contact-impact, e=10/9；Face contact is collided, e=1；According to all types of impact forces are calculated above.
A kind of control system of control method that falling recovery suitable for horizontal electromagnetic bearing rotor, it includes horizontal electromagnetism
Bearing and control system, the horizontal electromagnetic bearing include rotor, electromagnetic bearing, controller, power amplifier, motor, frequency conversion
Device, rotor displacement sensor and auxiliary bearing, the electromagnetic bearing include left radial magnetic bearing and right radial magnetic bearing, institute
Stating auxiliary bearing includes left redundant bearing and right redundant bearing, and the rotor displacement sensor includes left position displacement sensor and right position
Displacement sensor, the left redundant bearing, left radial magnetic bearing, right radial magnetic bearing and right redundant bearing are successively from left to right
It positioned at rotor side surface and is symmetrical arranged, the left redundant bearing and right redundant bearing bear radial impact, and the motor is located at
Between left radial magnetic bearing and right radial magnetic bearing, and the output end of the input terminal of motor and frequency converter connects, the electricity
The input terminal of machine output end and rotor connection, for controlling rotor axial rotation；The left position displacement sensor is set to left redundant axis
It holds between rotor, the right displacement sensor is set between right redundant bearing and rotor；
The control system includes host computer, controller, power amplifier, sensor, and the host computer and controller are double
To connection, the left radial magnetic bearing and right radial magnetic bearing pass through power amplifier respectively and the output end of controller connects
It connects, the left position displacement sensor and right displacement sensor are connect with the input terminal of controller, integrated control in the controller
Algorithm.
A kind of beneficial effect of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to the present invention
It is:
A kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor of the present invention guarantees rotor by strong
Disturbance and active magnetic bearing system adjust automatically and can control rotor and restore levitation position when drop impact.In electromagnetic bearing rotor control
Introduced in system processed rotor when falling catastrophe rotor-position restore control, it is ensured that rotor it is excessive by strong disturbance displacement and with auxiliary
When bearing collides, slows down the influence of rotor fallen accident, greatly ensure the safety of electromagnetic bearing's flexible rotor system.It can guarantee horizontal
Active magnetic bearing system safety, rotor are not easy to fall, the rotor of strong antijamming capability falls recovery control method.
Detailed description of the invention
Fig. 1 is that electromagnetic bearing falls rotor recovery control method flow chart；
Fig. 2 is horizontal electromagnetic bearing rotor structure schematic diagram；
Fig. 3 is electromagnetic bearing rotor control system structure chart；
Fig. 4 is pid control algorithm timing diagram；
Fig. 5 is electromagnetic force computing module schematic diagram；
Fig. 6 is rotor drop impact module principle figure.
In figure: 1 being rotor, 2 be left radial magnetic bearing, 3 be right radial magnetic bearing, 4 be controller, 5 be left dislocation
Sensor, 6 be right displacement sensor, 7 be power amplifier, 8 be motor, 9 be frequency converter, 10 be left redundant bearing, 11 be right
Auxiliary bearing.
Specific embodiment
Below with reference to embodiment, the following further describes the technical solution of the present invention, and however, it is not limited to this, all right
Technical solution of the present invention is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be contained
Lid is within the protection scope of the present invention.
Embodiment 1
Illustrate the present embodiment in conjunction with Fig. 1-6, it is in the present embodiment, according to the present invention a kind of suitable for horizontal electromagnetic axis
Forward son and fall the control method of recovery, it the following steps are included:
Step 1: sensor transmits a signal to controller 4 in real time；
Step 2: controller 4 handles signal, and transmission is exchanged with host computer real-time perfoming data information；
Step 3: controller 4 generates different control signals by control algolithm and exports；
It is generated needed for electromagnetic bearing coil Step 4: the different control signal passes through power amplifier 7 respectively
Electric current is controlled, the control electric current is transmitted to electromagnetic bearing；The electromagnetic bearing includes left radial magnetic bearing 2 and right radial electricity
Magnetic bearing 3；The freedom degree of 1 four direction of Control in active magnetic bearings control rotor, wherein left radial magnetic bearing 2 and right radial electricity
Magnetic bearing 3 is for controlling the radial freedom degree of rotor 1, i.e. X, Y-direction translation and rotation；
Step 5: the electromagnetic bearing exports corresponding electromagnetic force according to different control electric currents, and then control rotor 1
Position.
More specifically: in step 1, the sensor includes current sensor and rotor displacement sensor, and electric current
The displacement signal of the coil current signal of electromagnetic bearing and rotor 1 is transferred to control in real time by sensor and rotor displacement sensor
Device 4.
More specifically: in step 3, the controller 4 is according to electromagnetic bearing buy stop order and the rotor of feedback 1
Shifting signal solves suspending power, calculates the coil current instruction of electromagnetic bearing, and compare the coil current instruction of electromagnetic bearing with it is anti-
Feeder line loop current passes through control algolithm output electromagnetic bearing coil current control amount.
More specifically: the control algolithm is pid control algorithm, and the control algolithm is pid control algorithm, described
In pid control algorithm, rotor 1 uses rigid model, and electromagnetic bearing is linear model fm=Ki*ic+ks* s,
Wherein, fmFor input current function, KiFor current stiffness, icTo control electric current, ksFor a direction displacement rigidity, s
For the displacement of a direction.
More specifically: the pid control algorithm include electromagnetic force computing module, rotor dynamics analytical calculation module and
Fall and touch the computing module that rubs, the electromagnetic force computing module falls and touches rub computing module and rotor dynamics analytical calculation module
Calculation be respectively as follows:
1) electromagnetic force computing module
Based on formula:
Wherein, KsFor displacement rigidity, KiFor current stiffness；xa、ya、xb、ybFor displacement sensor X, 1 diameter of rotor of Y-direction
To displacement signal, the rotor 1 for respectively indicating the left and right two sensors interface of rotor 1 is displaced, by transformation matrix of coordinates, finally may be used
It is expressed as the freedom degree of 1 all directions of rotor, it may be assumed that the translation of the direction x, y and rotation；ixa、iya、ixb、iybRespectively indicate respective rotor
Four road electromagnetic bearing coils of 1 four freedom degrees control current signal, Fxa、Fya、Fxb、FybRespectively indicate corresponding electromagnetic force；
2) rotor dynamics analytical calculation module
Impact force computing module is added in vertical rotor dynamics computing module:
Wherein, x, y respectively indicate 1 mass center X of rotor, Y-direction displacement, θxWith θyIndicate that 1 mass center of rotor is rotated around X and Y-direction
Angle；WithIndicate 1 mass center of rotor around X and Y-direction angular velocity of rotation,WithIndicate that 1 mass center of rotor is revolved around X and Y-direction
Corner acceleration；Mg is 1 gravity of rotor, ITFor 1 polar moment of inertia of rotor, FmIndicate electromagnetic force, FcIndicate impact force, f indicates to turn
Centrifugal force suffered by son 1, subscript x, y respectively indicate X, Y-direction, and subscript a and b respectively indicate the left and right both ends of rotor 1, sa、sbRespectively
Indicate left and right sensor at a distance from 1 mass center of rotor, la、lbLeft and right auxiliary bearing is respectively indicated at a distance from mass center；
3) drop impact computing module
For horizontal electromagnetic bearing:
The radial impact of rotor 1 and auxiliary bearing belongs to line and hits type, and axial impact belongs to face crash type, rolling friction
Betide rotor 1 and auxiliary bearing inner ring tangential velocity it is numerically essentially equal when；
Based on Hertz contact formula:
Wherein, F is impact force, and δ is collision insert depth,For the once differentiation amount that δ is to the time, K is contact stiffness, C
For collisional damping, e is making contact coefficient, and numerical basis crash type is chosen, and point contact is collided, e=3/2；
For line contact-impact, e=10/9；Face contact is collided, e=1；According to all types of impact forces are calculated above.
A kind of control system of control method that falling recovery suitable for horizontal electromagnetic bearing rotor, it includes horizontal electromagnetism
Bearing and control system, the horizontal electromagnetic bearing include rotor 1, electromagnetic bearing, controller 4, power amplifier 7, motor 8,
Frequency converter 9, rotor displacement sensor and auxiliary bearing, the electromagnetic bearing include left radial magnetic bearing 2 and right radial electromagnetism
Bearing 3, the auxiliary bearing include left redundant bearing 10 and right redundant bearing 11, and the rotor displacement sensor includes left dislocation
Sensor 5 and right displacement sensor 6, the left redundant bearing 10, left radial magnetic bearing 2, right radial magnetic bearing 3 and inside right forward
It helps bearing 11 to be successively from left to right located at 1 side of rotor and is symmetrical arranged, the left redundant bearing 10 and right redundant bearing 11 are equal
Radial impact is born, the motor 8 is between left radial magnetic bearing 2 and right radial magnetic bearing 3, and the input of motor 8
End is connect with the output end of frequency converter 9, and 8 output end of motor is connect with the input terminal of rotor 1, axial for controlling rotor 1
Rotation；The left position displacement sensor 5 is set between left redundant bearing 10 and rotor 1, and the right displacement sensor 6 is set to right redundant
Between bearing 11 and rotor 1；
The control system includes host computer, controller 4, power amplifier 7, sensor, the host computer and controller 4
It is bi-directionally connected, the left radial magnetic bearing 2 and right radial magnetic bearing 3 pass through the defeated of power amplifier 7 and controller 4 respectively
Outlet connection, the left position displacement sensor 5 and right displacement sensor 6 are connect with the input terminal of controller 4, the controller 12
Middle integrated control algorithm.
Horizontal electromagnetic bearing's flexible rotor system:
The freedom degree of Control in active magnetic bearings control rotor four direction, it may be assumed that the translation of the direction x, y and rotation.Rotor axial rotation by
Motor control.Two ends of rotor is equipped with each pair auxiliary bearing, provides interim aiding support to fall rotor.Wherein: left and right
Auxiliary bearing bears radial impact.
Electromagnetic bearing's flexible rotor system control principle:
Major part is the acquisition of control system state parameter and the realization of control algolithm in the active control of electromagnetic bearing.
Electromagnetic bearing rotor rotor overall system control includes: host computer, controller, power amplifier, electromagnetic bearing, rotor, sensing
Device etc..
Main working process are as follows: sensor (electromagnetic bearing current sensor, rotor displacement sensor etc.) is in real time to control
Device (realizing each freedom degree active control of rotor) transmits the signals such as coil current, rotor-position variation, carries out letter inside controller
Number processing (suspending power is solved according to electromagnetic bearing buy stop order and the rotor displacement signal of feedback, resolve electromagnetic bearing coil around
Group current-order simultaneously compares electromagnetic bearing coil windings current-order and feedback coil electric current, exports electromagnetic axis by control algolithm
Hold coil current control amount), and real time data exchanges transmission between host computer.By control algolithm in controller, control is generated
Signal processed, by power amplifier, control electric current needed for generating magnetic bearing coil passes to electromagnetic bearing execution, passes through control
Electric current changes electromagnetic force, and then controls rotor-position, makes its suspension.
Electromagnetic bearing falls rotor and restores control algolithm flow chart: it is added in dsp system:
When suspension rotor is by strong disturbance, rotor displacement changes and has the trend fallen.Displacement sensor becomes displacement
Change signal and pass to the collision calculation module in controller, judges whether to collide and carry out impact force solution (size, phase
Position).Then, prediction impact force is passed into dsp system and electromagnetic bearing actuator, the impact force according to suffered by rotor solves it
Required suspending power, and control electric current is adjusted, suspension is reformed by rotor is collided by changing corresponding electromagnetic force
State.
Claims (6)
1. a kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor, which is characterized in that it the following steps are included:
Step 1: sensor transmits a signal to controller (4) in real time；
Step 2: controller (4) handles signal, and transmission is exchanged with host computer real-time perfoming data information；
Step 3: controller (4) generates different control signals by control algolithm and exports；
Step 4: the different control signal passes through control needed for power amplifier (7) generate electromagnetic bearing coil respectively
Electric current processed, the control electric current are transmitted to electromagnetic bearing；The electromagnetic bearing includes left radial magnetic bearing (2) and right radial electricity
Magnetic bearing (3)；The freedom degree of Control in active magnetic bearings control rotor (1) four direction, wherein left radial magnetic bearing (2) and the right side
Radial magnetic bearing (3) is for controlling the radial freedom degree of rotor (1), i.e. X, Y-direction translation and rotation；
Step 5: the electromagnetic bearing exports corresponding electromagnetic force according to different control electric currents, and then control rotor (1) position
It sets.
2. a kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to claim 1, feature
It is, in step 1, the sensor includes current sensor and rotor displacement sensor, and current sensor and rotor position
The displacement signal of the coil current signal of electromagnetic bearing and rotor (1) is transferred to controller (4) in real time by displacement sensor.
3. a kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to claim 2, feature
It is, in step 3, the controller (4) solves according to electromagnetic bearing buy stop order and rotor (1) displacement signal of feedback
Suspending power, calculates the coil current instruction of electromagnetic bearing, and compares coil current instruction and the feedback coil electric current of electromagnetic bearing,
Pass through control algolithm output electromagnetic bearing coil current control amount.
4. a kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to claim 3, feature
It is, the control algolithm is pid control algorithm, and in the pid control algorithm, rotor (1) uses rigid model, electromagnetic bearing
For linear model fm=Ki*ic+ks* s,
Wherein, fmFor input current function, KiFor current stiffness, icTo control electric current, ksFor a direction displacement rigidity, s is certain
The displacement in one direction.
5. a kind of control method for falling recovery suitable for horizontal electromagnetic bearing rotor according to claim 4, feature
It is, the pid control algorithm includes electromagnetic force computing module, rotor dynamics analytical calculation module and falls to touch to rub and calculate mould
Block, the electromagnetic force computing module fall the calculation difference for touching rub computing module and rotor dynamics analytical calculation module
Are as follows:
1) electromagnetic force computing module
Based on formula:
Wherein, KsFor displacement rigidity, KiFor current stiffness；xa、ya、xb、ybRotor (1) for displacement sensor X, Y-direction is radial
Displacement signal respectively indicates rotor (1) displacement at the left and right two sensors interface of rotor (1), by transformation matrix of coordinates, finally
It is represented by the freedom degree of rotor (1) all directions, it may be assumed that the translation of the direction x, y and rotation；ixa、iya、ixb、iybRespectively indicate correspondence
The four road electromagnetic bearing coils of (1) four freedom degree of rotor control current signal, Fxa、Fya、Fxb、FybIt respectively indicates corresponding
Electromagnetic force；
2) rotor dynamics analytical calculation module
Impact force computing module is added in vertical rotor dynamics computing module:
Wherein, x, y respectively indicate rotor (1) mass center X, Y-direction displacement, θxWith θyIndicate that rotor (1) mass center is rotated around X and Y-direction
Angle；WithIndicate rotor (1) mass center around X and Y-direction angular velocity of rotation,WithIndicate rotor (1) mass center around X and the side Y
To rotating angular acceleration；Mg is rotor (1) gravity, ITFor rotor (1) polar moment of inertia, FmIndicate electromagnetic force, FcIndicate collision
Power, f indicate centrifugal force suffered by rotor (1), and subscript x, y respectively indicates X, Y-direction, and it is left and right that subscript a and b respectively indicates rotor (1)
Both ends, sa、sbLeft and right sensor is respectively indicated at a distance from rotor (1) mass center, la、lbRespectively indicate left and right auxiliary bearing and matter
The distance of the heart；
3) drop impact computing module
For horizontal electromagnetic bearing:
The radial impact of rotor (1) and auxiliary bearing belongs to line and hits type, and axial impact belongs to face crash type, rolling friction hair
Be born in rotor (1) and auxiliary bearing inner ring tangential velocity it is numerically essentially equal when；
Based on Hertz contact formula:
Wherein, F is impact force, and δ is collision insert depth,For the once differentiation amount that δ is to the time, K is contact stiffness, and C is to touch
Damping is hit, e is making contact coefficient, and numerical basis crash type is chosen, and point contact is collided, e=3/2；For
Line contact-impact, e=10/9；Face contact is collided, e=1；According to all types of impact forces are calculated above.
6. a kind of based on the controlling party for falling recovery described in claim 1-5 any one suitable for horizontal electromagnetic bearing rotor
The control system of method, which is characterized in that it includes horizontal electromagnetic bearing and control system, and the horizontal electromagnetic bearing includes rotor
(1), electromagnetic bearing, controller (4), power amplifier (7), motor (8), frequency converter (9), rotor displacement sensor and asessory shaft
It holds, the electromagnetic bearing includes left radial magnetic bearing (2) and right radial magnetic bearing (3), and the auxiliary bearing includes inside left
Bearing (10) and right redundant bearing (11) are helped, the rotor displacement sensor includes left position displacement sensor (5) and right displacement sensing
Device (6), the left redundant bearing (10), left radial magnetic bearing (2), right radial magnetic bearing (3) and right redundant bearing (11)
Successively from left to right it is located at rotor (1) side and is symmetrical arranged, the left redundant bearing (10) and right redundant bearing (11) is held
By radial impact, the motor (8) is between left radial magnetic bearing (2) and right radial magnetic bearing (3), and motor (8)
Input terminal connect with the output end of frequency converter (9), motor (8) output end is connect with the input terminal of rotor (1), for controlling
Rotor (1) axial-rotation processed；The left position displacement sensor (5) is set between left redundant bearing (10) and rotor (1), the right position
Displacement sensor (6) is set between right redundant bearing (11) and rotor (1)；
The control system includes host computer, controller (4), power amplifier (7), sensor, the host computer and controller
(4) it is bi-directionally connected, the left radial magnetic bearing (2) and right radial magnetic bearing (3) pass through power amplifier (7) and control respectively
The output end of device (4) processed connects, the input terminal of the left position displacement sensor (5) and right displacement sensor (6) with controller (4)
It connects, integrated control algorithm in the controller (12).
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| CN201811068050.8A CN108999888B (en) | 2018-09-13 | 2018-09-13 | Control method suitable for drop recovery of horizontal electromagnetic bearing rotor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110030264A (en) * | 2019-05-08 | 2019-07-19 | 珠海格力电器股份有限公司 | Magnetic suspension bearing displacement detection device and magnetic suspension system |
| CN110185705A (en) * | 2019-06-04 | 2019-08-30 | 珠海格力电器股份有限公司 | A kind of magnetic levitation bearing system, protective device and its detection control method |
| CN113587794A (en) * | 2021-06-30 | 2021-11-02 | 清华大学 | Electromagnetic bearing rotor displacement measuring method and device and electromagnetic bearing system |
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